Template Function tf2::covarianceRowMajorToEigen

Defined in File tf2_sophus.hpp

Function Documentation

template<template<typename, std::size_t> class Array, typename Scalar> inline Sophus::Matrix3<Scalar> &tf2::covarianceRowMajorToEigen(const Array<Scalar, 36> &in, Sophus::Matrix3<Scalar> &out)

Converts a 6x6 row-major array to an Eigen 3x3 covariance matrix.

Parameters:

in – A row-major array of 36 covariance values of a 3D pose.
out – A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).

Returns:

A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).